Kinematic equations of robot manipulators

  • Jadran Lenarcic


The solution of the joint coordinates, given the cartesian coordinates of the end-effector, is found by breaking the problem into two parts. Solutions for the arm and wrist motions of most commercially available manipulators are found and a method for combining these solutions into the total manipulator motion is presented. The method presented simplifies the solutions to multiple end-effector problems tremendously, while simultaneously reducing the number of mathematical operations needed to find the solution.


Transformation Matrix Kinematic Model Local Coordinate System Robot Manipulator Kinematic Chain 
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Copyright information

© Crane Russak & Company Inc 1984

Authors and Affiliations

  • Jadran Lenarcic
    • 1
  1. 1.Institute Jozef StefanUniversity of Edvard KardeljLjubljana, Jamova 39Yugoslavia

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